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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef PLC_STRUCT_DEFINE_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define PLC_STRUCT_DEFINE_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#define MAX_GROUP_NUM 2</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifdef Q_OS_LINUX </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#pragma pack(push, 4)</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma pack(push, 1)</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="struct_bit_get.html">   13</a></span>&#160;<span class="keyword">struct </span><a class="code" href="struct_bit_get.html">BitGet</a>       <span class="comment">//位域结构体</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_0:1;</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_1:1;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_2:1;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_3:1;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_4:1;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_5:1;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_6:1;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_7:1;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_8:1;</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_9:1;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_10:1;</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_11:1;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_12:1;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_13:1;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_14:1;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> bit_15:1;</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;};</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="struct_byte_get.html">   33</a></span>&#160;<span class="keyword">struct </span><a class="code" href="struct_byte_get.html">ByteGet</a>      <span class="comment">//位域结构体</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;{</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> byte_0:8;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> byte_1:8;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;};</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">//G变量</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="struct_g_variable.html">   40</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;{</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordtype">bool</span> b_init_plc_ok;             <span class="comment">//PLC初始化完成</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="keywordtype">bool</span> b_work_mode_teach[MAX_GROUP_NUM];          <span class="comment">//试教模式选择      主工作模式选择命令</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keywordtype">bool</span> b_work_mode_replay[MAX_GROUP_NUM];         <span class="comment">//回放模式选择      主工作模式选择命令</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keywordtype">bool</span> b_work_mode_remote[MAX_GROUP_NUM];         <span class="comment">//远程模式选择      主工作模式选择命令</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordtype">bool</span> b_step_mode[MAX_GROUP_NUM];                <span class="comment">//0：连续模式，1：单步模式  回放操作模式</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordtype">bool</span> b_loop_mode[MAX_GROUP_NUM];                <span class="comment">//0：单次循环，1：无限循环  回放操作模式</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="keywordtype">bool</span> b_jog_step_mode[MAX_GROUP_NUM];            <span class="comment">//Jog运动模式   （0：连续，1：寸动）        试教操作模式</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keywordtype">bool</span> b_jog_coord_mode[MAX_GROUP_NUM];           <span class="comment">//Jog的坐标系模式   （0：Acs, 1：笛卡尔）   试教操作模式</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordtype">bool</span> b_watch_mode;              <span class="comment">//0：watch关闭，1：watch使能</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">bool</span> b_servo_on[MAX_GROUP_NUM];             <span class="comment">//上伺服命令</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">bool</span> b_servo_off[MAX_GROUP_NUM];            <span class="comment">//关伺服命令</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">bool</span> b_estop;                                   <span class="comment">//急停命令</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">bool</span> b_reset[MAX_GROUP_NUM];                <span class="comment">//复位命令</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordtype">bool</span> b_clear_alarm;                             <span class="comment">//清除报警命令</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordtype">bool</span> b_start[MAX_GROUP_NUM];                <span class="comment">//启动命令</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordtype">bool</span> b_stop[MAX_GROUP_NUM];                 <span class="comment">//停止命令</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">bool</span> b_continue[MAX_GROUP_NUM];             <span class="comment">//继续运动</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">bool</span> b_forward_check[MAX_GROUP_NUM];        <span class="comment">//前进检查</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">bool</span> b_backward_check[MAX_GROUP_NUM];       <span class="comment">//后退检查</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">bool</span> b_move_to_point[MAX_GROUP_NUM];        <span class="comment">//运动到点</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordtype">bool</span> b_change_coord_system[MAX_GROUP_NUM];  <span class="comment">//坐标系切换</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordtype">bool</span> b_watch_start;             <span class="comment">//数据采集（Watch）启动命令</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">bool</span> b_hmi_read_write_watch;    <span class="comment">//Watch数据获取处理类型</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordtype">bool</span> jog_dir[16];               <span class="comment">//Jog运动方向</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">bool</span> jog_cmd[16];               <span class="comment">//Jog运动命令</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}<a class="code" href="struct_g_variable.html">GVariable</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">//F变量</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="struct_f_variable.html">   81</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;{</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">bool</span> b_nc_init_okay;            <span class="comment">//PLC初始化完成</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordtype">bool</span> b_all_servo_on;            <span class="comment">//所有轴伺服使能</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordtype">bool</span> b_home_ok;                 <span class="comment">//所有轴零点确认OK  </span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordtype">bool</span> b_alarm;                   <span class="comment">//有报警</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordtype">bool</span> b_servo_on[MAX_GROUP_NUM];         <span class="comment">//组使能状态</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordtype">bool</span> b_lock_mode[MAX_GROUP_NUM];            <span class="comment">//模式锁定，禁止PLC切换工作模式</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">bool</span> b_replay_finish[MAX_GROUP_NUM];        <span class="comment">//回放完成信号（通道1）</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordtype">bool</span> b_teach_check_finish[MAX_GROUP_NUM];   <span class="comment">//示教前进/后退检查完成信号（通道1）</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">bool</span> b_work_mode_teach[MAX_GROUP_NUM];      <span class="comment">//试教模式选择      主工作模式选择命令</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">bool</span> b_work_mode_replay[MAX_GROUP_NUM];     <span class="comment">//回放模式选择      主工作模式选择命令</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">bool</span> b_work_mode_remote[MAX_GROUP_NUM];     <span class="comment">//远程模式选择      主工作模式选择命令</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="keywordtype">bool</span> b_step_mode[MAX_GROUP_NUM];            <span class="comment">//0：连续模式，1：单步模式  回放操作模式</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">bool</span> b_loop_mode[MAX_GROUP_NUM];            <span class="comment">//0：单次循环，1：无限循环  回放操作模式</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">bool</span> b_jog_step_mode[MAX_GROUP_NUM];        <span class="comment">//Jog运动模式   （0：连续，1：寸动）        试教操作模式</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keywordtype">bool</span> b_jog_coord_mode[MAX_GROUP_NUM];       <span class="comment">//Jog的坐标系模式   （0：Acs, 1：笛卡尔）   试教操作模式</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keywordtype">bool</span> b_watch_mode;                              <span class="comment">//0：watch关闭，1：watch使能</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordtype">int</span> nc_status[MAX_GROUP_NUM];               <span class="comment">//回放模式下NC工作状态 123 空闲、运行、暂停</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keywordtype">int</span> teach_status[MAX_GROUP_NUM];            <span class="comment">//试教模式下NC工作状态 12345 空闲、前进、后退、运动到点、Jog运动</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordtype">bool</span> b_group_motion_stop[MAX_GROUP_NUM];    <span class="comment">//组运动规划停止状态</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">bool</span> b_group_motion_run[MAX_GROUP_NUM];     <span class="comment">//组运动规划运行状态</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordtype">bool</span> b_started[MAX_GROUP_NUM];              <span class="comment">//启动命令应答</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordtype">bool</span> b_continued[MAX_GROUP_NUM];            <span class="comment">//继续命令应答</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordtype">bool</span> b_coord_changed[MAX_GROUP_NUM];        <span class="comment">//坐标系切换应答</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keywordtype">bool</span> b_reseted[MAX_GROUP_NUM];              <span class="comment">//复位应答信号</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordtype">bool</span> b_forward_check[MAX_GROUP_NUM];        <span class="comment">//前进检查命令应答信号</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keywordtype">bool</span> servo_okey[16];                            <span class="comment">//伺服使能准备OK    0伺服关闭 1伺服使能</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keywordtype">bool</span> home_okey[16];                             <span class="comment">//零点确认OK</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordtype">bool</span> b_sys_motion_stop;                         <span class="comment">//系统运动规划停止状态</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordtype">bool</span> b_sys_motion_run;                          <span class="comment">//系统运动规划运行状态</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}<a class="code" href="struct_f_variable.html">FVariable</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="comment">//X变量</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="struct_x_variable.html">  126</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;{</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordtype">bool</span> b_switch_run;              <span class="comment">//试教器启动按钮</span></div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordtype">bool</span> b_switch_stop;             <span class="comment">//试教器停止按钮</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordtype">bool</span> b_switch_teach;            <span class="comment">//试教器试教模式选择</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordtype">bool</span> b_switch_remote;           <span class="comment">//试教器远程模式选择</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordtype">bool</span> b_switch_estop;            <span class="comment">//试教器急停按钮</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">bool</span> b_switch_three_sec;        <span class="comment">//试教器三段选择开关</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordtype">bool</span> jog_forward[16];</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keywordtype">bool</span> jog_reverse[16];</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordtype">bool</span> jog_ready_forward[16];</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordtype">bool</span> jog_ready_reverse[16];</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordtype">bool</span> b_step_mode[MAX_GROUP_NUM];    <span class="comment">//示教-回放模式 0：连续模式，1：单步模式</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordtype">bool</span> b_loop_mode[MAX_GROUP_NUM];    <span class="comment">//示教-回放模式 0：单次循环，1：无限循环</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordtype">bool</span> b_button_vel_add;          <span class="comment">//速度加</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordtype">bool</span> b_button_vel_sub;          <span class="comment">//速度减</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordtype">bool</span> b_button_clear;            <span class="comment">//故障清除</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordtype">bool</span> b_button_instruct_table;   <span class="comment">//命令一览</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordtype">bool</span> b_button_interpolation;    <span class="comment">//插补</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordtype">bool</span> b_button_forward;          <span class="comment">//前进</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordtype">bool</span> b_button_backward;         <span class="comment">//回退</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">bool</span> b_button_insert;           <span class="comment">//插入</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordtype">bool</span> b_button_delete;           <span class="comment">//删除</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keywordtype">bool</span> b_button_modify;           <span class="comment">//修改</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordtype">bool</span> b_button_confirm;          <span class="comment">//确认</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordtype">bool</span> b_button_cancel_limit;     <span class="comment">//取消限制</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordtype">bool</span> b_button_external_axis;    <span class="comment">//外部扩展轴</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">bool</span> b_button_servo_ready;      <span class="comment">//伺服准备</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordtype">bool</span> b_move_to_point;           <span class="comment">//运动到点</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordtype">bool</span> b_forward_check;           <span class="comment">//前进检查</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordtype">bool</span> b_change_coord_system;     <span class="comment">//切换坐标系</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordtype">bool</span> b_active_coord_system[MAX_GROUP_NUM];      <span class="comment">//激活坐标系</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordtype">bool</span> b_do_diagnose_enable;      <span class="comment">//IO诊断输出使能</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordtype">bool</span> b_system_offline_check;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keywordtype">bool</span> b_system_parameter_reset[MAX_GROUP_NUM];   <span class="comment">//系统参数重置</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordtype">bool</span> b_button_shift;            <span class="comment">//上档键</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keywordtype">bool</span> b_button_ctrl;             <span class="comment">//连锁键</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordtype">bool</span> b_button_num0;             <span class="comment">//数字按键0</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordtype">bool</span> b_button_num1;             <span class="comment">//数字按键1</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordtype">bool</span> b_button_num2;             <span class="comment">//数字按键2</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordtype">bool</span> b_button_num3;             <span class="comment">//数字按键3</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordtype">bool</span> b_button_num4;             <span class="comment">//数字按键4</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordtype">bool</span> b_button_num5;             <span class="comment">//数字按键5</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordtype">bool</span> b_button_num6;             <span class="comment">//数字按键6</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">bool</span> b_button_num7;             <span class="comment">//数字按键7</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordtype">bool</span> b_button_num8;             <span class="comment">//数字按键8</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordtype">bool</span> b_button_num9;             <span class="comment">//数字按键9</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;}<a class="code" href="struct_x_variable.html">XVariable</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment">//Y变量</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="struct_y_variable.html">  193</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;{</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordtype">bool</span> b_light_instruct_table;    <span class="comment">//试教器命令一览指示灯</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordtype">bool</span> b_light_insert;            <span class="comment">//试教器插入指示灯</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordtype">bool</span> blight_delete;             <span class="comment">//试教器删除指示灯</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordtype">bool</span> b_light_modify;            <span class="comment">//试教器修改指示灯</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    <span class="keywordtype">bool</span> b_light_external_axis;     <span class="comment">//试教器扩展轴指示灯</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordtype">bool</span> b_light_cancel_limit;      <span class="comment">//试教器取消限制指示灯</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordtype">bool</span> b_light_servo_on;          <span class="comment">//试教器伺服使能指示灯</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordtype">bool</span> b_light_servo_run;         <span class="comment">//试教器运行指示灯</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordtype">bool</span> b_light_servo_pause;       <span class="comment">//试教器暂停指示灯</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;}<a class="code" href="struct_y_variable.html">YVariable</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="comment">//外部PLC操作变量</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="struct_e_variable.html">  209</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;{</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordtype">bool</span> b_replay_mode_enable;      <span class="comment">//回放模式作用</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordtype">bool</span> b_replay_shield;           <span class="comment">//屏蔽系统回放模式操作</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordtype">bool</span> b_remote_io_enable;        <span class="comment">//远程模式IO联机</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordtype">bool</span> b_remote_tcpip_enable;     <span class="comment">//远程模式TCPIP通讯联机</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordtype">bool</span> b_servo_on[MAX_GROUP_NUM];     <span class="comment">//伺服上使能</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="keywordtype">bool</span> b_servo_off[MAX_GROUP_NUM];    <span class="comment">//伺服下使能</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordtype">bool</span> b_servo_start[MAX_GROUP_NUM];  <span class="comment">//程序启动</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordtype">bool</span> b_servo_stop[MAX_GROUP_NUM];   <span class="comment">//程序停止</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordtype">bool</span> b_estop;                           <span class="comment">//急停</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordtype">bool</span> b_clear[MAX_GROUP_NUM];        <span class="comment">//故障清除</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;}<a class="code" href="struct_e_variable.html">EVariable</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="comment">//指令描述</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="struct_command_detail.html">  228</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;{</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> cmd;             <span class="comment">//命令编号</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> para1;           <span class="comment">//参数</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> para2;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> para3;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> para4;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> rev[5];</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keywordtype">char</span> message[129];              <span class="comment">//</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;}<a class="code" href="struct_command_detail.html">CommandDetail</a>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="preprocessor">#pragma pack(pop)</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="preprocessor">#endif</span></div>
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